CN105449698A - Novel hydroelectric generating set load and frequency controller - Google Patents

Novel hydroelectric generating set load and frequency controller Download PDF

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Publication number
CN105449698A
CN105449698A CN201510807963.7A CN201510807963A CN105449698A CN 105449698 A CN105449698 A CN 105449698A CN 201510807963 A CN201510807963 A CN 201510807963A CN 105449698 A CN105449698 A CN 105449698A
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module
controller
load
signal input
input part
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CN105449698B (en
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唐耀华
郭为民
燕志伟
李冰
高建红
朱峰
王刚
郝涛
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Henan Electric Power Co Ltd
Henan Jiuyu Enpai Power Technology Co Ltd
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State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Henan Electric Power Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/24—Arrangements for preventing or reducing oscillations of power in networks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B15/00—Controlling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/002—Flicker reduction, e.g. compensation of flicker introduced by non-linear load
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Water Turbines (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

The invention discloses a novel hydroelectric generating set load and frequency controller. On the basis of a conventional controller, the guide vane opening degree feedback is changed into load feedback of a hydroelectric generating set, and a variable parameter speed limiting module is disposed at an outlet of a controller. The controller solves problems of additional risks caused by load feedback and possible water attack caused by a set control system through speed limiting, and controls the water attack through limiting the maximum closing speed. On the basis of a classic hydroelectric generating set PID controller, the interior of the controller is additionally provided with a water attack force control link from the aspects of water attack and frequency modulation, thereby effectively limiting the amplitude of a water attack force from a source, avoiding the excessive limit of an execution mechanism movement speed, and improving the frequency modulation capability of the set under the condition of protecting the safety of equipment. Moreover, the controller plays an important role in improving the primary frequency modulation quality of the hydroelectric generating set and the frequency stability of a power grid.

Description

A kind of novel hydroelectric generating set load and frequency controller
Technical field
The present invention relates to automatic control technology of power system field, particularly relate to a kind of novel hydroelectric generating set load and frequency controller.
Background technology
Water attack is the important problem of Hydropower Unit regulating system one of facing, and especially in the process of guide vane closing, too fast closing velocity can may cause larger water attack, and causes the damage of equipment.It has been generally acknowledged that this Water Hammer is all relevant with valve position with closing velocity, therefore the actuator of existing unit is with the servomotor action of switch direction and valve position position different choice different time constant, avoids the generation of excessive water attack.
The theory diagram of existing water power regulating system actuator as shown in Figure 1, P in figure cvfor valve position instruction, subscript cv represents control valve, K p1for the multiple of the scale amplifying link of electric liquid conversion PID controller, subscript P represents the proportional component of electric liquid conversion PID controller, and subscript 1 plays difference effect, K d1for the multiple of the differential amplifying element of electric liquid conversion PID controller, subscript D represents the differentiation element of electric liquid conversion PID controller, and subscript 1 plays difference effect, T 1v1for the derivative time constant of electric liquid conversion PID controller, subscript 1v represents the actual derivative time constant of electro-control converter, and subscript 1 plays difference effect, K i1for the integration amplifying element multiple of electric liquid conversion PID controller, subscript I represents the integral element of electric liquid conversion PID controller, and subscript 1 plays difference effect, T ofor servomotor opening time constant, subscript o is that the initial of open represents unlatching, T c1for the first shut-in time constant of servomotor, T c2for the second shut-in time constant of servomotor, T c3for the 3rd shut-in time constant of servomotor, subscript c is that the initial of close represents unlatching, and subscript 1,2 and 3 plays difference effect, T 2for servomotor valve position travel feedback link (LVDT) time, subscript 2 plays difference effect, P gvfor guide vane opening, subscript Gv represents stator.Valve position instruction P cvwith the difference formation control deviation from servomotor valve position travel feedback signal, send into electric liquid conversion PID controller and generate the control signal finally acting on servomotor through instruction amplitude limit.This control generally controls the responsiveness of actual servomotor or servomotor by multiple selector, be equivalent to the multiple fixing responsiveness gear of actual actuator.Adopt three selectors in Fig. 1, selector dashed middle line link is control end, selects a road input of upper end or lower end as final output according to the numerical value of control end signal.First selector is open or close according to servomotor control signal, selects one of the opening time constant or three shut-in time constants of servomotor, the final switching speed controlling servomotor stroke.Second selector is connected with servomotor valve position travel feedback signal with the control end of third selector, select the shut-in time constant of three different brackets according to the feedback of actual servomotor valve position stroke, when also namely controlling different opening level, adopt different closing velocities.Usually can adopt closing velocity faster when aperture is larger, easily produce larger water attack when aperture is less, the closing velocity that therefore many employings are less, with the destruction of water impact preventing.Hydropower Unit adopts fixing servomotor opening time constant T when opening large stator o, and when turning down stator, according to lower guide vane opening scope, select lower servomotor shut-in time constant T successively c1, T c2and T c3.There is larger sudden change in the breakover point of this control method between the control section of each time constant effect; and the Discrete control mode adopted is very coarse; need to arrange very harsh restriction; to avoid the water attack problem of limiting case; control rate is greatly limited, thus usually sacrifices the quality of regulating system because protectiveness nargin great under most of operating mode arranges.
The theory diagram of existing hydroelectric generating set load and frequency controller as shown in Figure 2, C in figure ffor given frequency, f is the frequency of feedback, E ffor FREQUENCY CONTROL dead band module, K pfor the multiple of the scale amplifying link of electric liquid conversion PID controller, subscript P represents the proportional component of electric liquid conversion PID controller, K dfor the multiple of the differential amplifying element of electric liquid conversion PID controller, subscript D represents the differentiation element of electric liquid conversion PID controller, T 1vfor the derivative time constant of electric liquid conversion PID controller, subscript 1v represents the actual derivative time constant of electro-control converter, K ifor the integration amplifying element multiple of electric liquid conversion PID controller, subscript I represents the integral element of electric liquid conversion PID controller, b pfor permanent droop, subscript p represents state slip forever, E yfor spatial load forecasting dead band module, subscript y represents load, C yfor given artificial load, subscript y represents load, P gvfor guide vane opening, subscript Gv represents stator.Given frequency C fthe deviation of the frequency f fed back with actual set is through FREQUENCY CONTROL dead band module E flink, forms the input of electric liquid conversion PID controller, and the ratio of electric liquid conversion PID controller, differential and integral element are synthesized total control and exported, and superpose given artificial load C y, after output order amplitude limit, be finally input to the switch of actuating mechanism controls guide vanes of water turbine.Given artificial load C ywith actual guide vane opening P gvdifference through spatial load forecasting dead band module E yafter by permanent droop b ptransform to practical adjustments deviation, the integral element that electric liquid changes PID controller is sent into together with the input that electric liquid changes PID controller, utilize integral control stable state can eliminate the ability of deviation, ensure the realization of the primary frequency modulation performance assessment criteria between the load that primary frequency regulation of power network requires and frequency departure.The integral element of electricity liquid conversion PID controller can eliminate stable state control deviation, namely ensure to meet between the load variations of unit and mains frequency deviation the requirement of the amplitude of accommodation that permanent droop that electrical network specifies is arranged, but that as can be seen from the figure, the load deviation of the entrance of state slip forever generally adopts is the guide vane opening P that actuator feeds back gv, instead of the actual load feedback of unit, guide vane opening P gvand because of reserve-water-level and regulate the reasons such as non-linear between actual load, generally all can not be linearly corresponding, therefore mains frequency regulates the primary frequency modulation amplitude required then to can not get effective guarantee, is unfavorable for the stable regulation of mains frequency.
Summary of the invention
The object of this invention is to provide a kind of novel hydroelectric generating set load and frequency controller, load and the frequency of Hydropower Unit can be regulated, effectively improve the primary frequency modulation quality of Hydropower Unit and the frequency stability of electrical network.
The technical solution used in the present invention is: a kind of novel hydroelectric generating set load and frequency controller, comprise FREQUENCY CONTROL dead band module, first electric liquid conversion PID controller, the gain module of state slip forever, spatial load forecasting dead band module, first amplitude limiter and actuator, given frequency and feedback frequency are through the signal input part of first adder rate of connections controlling dead error module, the signal output part of FREQUENCY CONTROL dead band module connects the input of the first electric liquid conversion PID controller, three signal output parts of the first electric liquid conversion PID controller all connect the signal input part of the first amplitude limiter through second adder, the signal output part of the first amplitude limiter connects the signal input part of execution architecture, given artificial load is by the signal input part of the 3rd adder connected load controlling dead error module, the signal output part of spatial load forecasting dead band module connects the signal input part of the 4th adder by state slip forever, the signal output part of the 4th adder connects the signal input part of the integral controller of the first electric liquid conversion PID controller, given artificial load also connects the signal input part of second adder, the variable element speed limit module for carrying out Control for Speed Limitation to the output of the first electric liquid conversion PID controller is also provided with between the first amplitude limiter and actuator, the signal input part of the 3rd adder is also connected with the load of Hydropower Unit.
Described variable element speed limit module comprises variable element limiter of speed and speed limit parameter generators.
Described speed limit parameter generators is according to formula generate controling parameters; In formula, P gvfor actuator's feedback and guide vane opening feedback, subscript Gv represents stator; H is current hydraulic turbine head; F rfor the maximum Water Hammer limited target arranged, subscript R represents set-point; wherein f (P gv, H) and for hydraulic turbine power output is relative to the rate of change of guide vane opening function; P efor the load of Hydropower Unit, subscript e is electricity initial, represents the signal of telecommunication; K ffor inertia coeffeicent, subscript F represents inertia; K is Hydropower Unit power factor; η is the gross efficiency of Hydropower Unit.
Described variable element speed limit module also comprises the correcting module for revising the computing function in speed limit parameter generators and demarcate.
Described correcting module utilizes the load P of Hydropower Unit e, current hydraulic turbine head H and guide vane opening feedback P gv, adopt the method for linear regression or repeatedly spline-fit to carry out online correction and demarcation to the function of speed limit parameter generators.
Described execution architecture comprises the second electric liquid conversion PID controller, second amplitude limiter, proportional control module, servomotor and travel feedback module, the signal output part of variable element speed limit module connects the signal input part of the second electric liquid conversion PID controller by slender acanthopanax musical instruments used in a Buddhist or Taoist mass, the signal output part of the second electric liquid conversion PID controller connects the signal input part of the second amplitude limiter, the signal output part of secondary signal amplitude limiter is by connecting the signal input part of proportional control model calling servomotor, the signal output part of servomotor connects the signal input part of stroke feedback module, the signal output part of travel feedback module connects the signal input part of slender acanthopanax musical instruments used in a Buddhist or Taoist mass.
The scale parameter of described proportional control module is 1/T l, T lfor the maximum switching constant of servomotor, subscript L represents servomotor.
The present invention is on the basis of classical Hydropower Unit PID controller; from water attack and frequency modulation principle; Water Hammer controlling unit is added in controller; the amplitude of Water Hammer effectively can be limited from source; avoid the excessive restriction of actuator's responsiveness; under the condition of proterctive equipment safety, improve the fm capacity of unit, to the raising primary frequency modulation quality of Hydropower Unit and the frequency stability of electrical network, there is important effect.
Accompanying drawing explanation
Fig. 1 is the theory diagram of existing water power regulating system actuator;
Fig. 2 is the theory diagram of existing hydroelectric generating set load and frequency controller;
Fig. 3 is the theory diagram of hydroelectric generating set load of the present invention and frequency controller;
Fig. 4 is the concrete structure schematic diagram of hydroelectric generating set load of the present invention and frequency controller.
Embodiment
As shown in Figure 3 and Figure 4, the present invention includes FREQUENCY CONTROL dead band module E f, the first conversion of electric liquid PID controller, the gain module of state slip forever, spatial load forecasting dead band module E y, the first amplitude limiter and actuator, given frequency C fwith feedback frequency f through first adder rate of connections controlling dead error module E fsignal input part, FREQUENCY CONTROL dead band module E fsignal output part connect the signal input part of the first electric liquid conversion PID controller, three signal output parts of the first electric liquid conversion PID controller all connect the signal input part of the first amplitude limiter through second adder, the signal output part of the first amplitude limiter connects the signal input part of execution architecture, given artificial load C yby the 3rd adder connected load controlling dead error module E ysignal input part, spatial load forecasting dead band module E ysignal output part connect the signal input part of the 4th adder by the gain module of state slip forever, the signal output part of the 4th adder connects the signal input part of the integral controller of the first electric liquid conversion PID controller, given artificial load C yalso connect the signal input part of second adder, between the first amplitude limiter and actuator, be also provided with the variable element speed limit module for carrying out Control for Speed Limitation to the output of the first electric liquid conversion PID controller, the signal input part of the 3rd adder is also connected with the load P of Hydropower Unit e.
Described variable element speed limit module comprises variable element limiter of speed and speed limit parameter generators.
Described speed limit parameter generators is according to formula generate controling parameters; In formula, P gvfor actuator's feedback and guide vane opening feedback, subscript Gv represents stator; H is current hydraulic turbine head; F rfor the maximum Water Hammer limited target arranged, subscript R represents set-point; wherein f (P gv, H) and for hydraulic turbine power output is relative to the rate of change of guide vane opening function, P efor the load of Hydropower Unit, subscript e is electricity initial, represents the signal of telecommunication; K ffor inertia coeffeicent, subscript F represents inertia, approximates Hydropower Unit penstock length; K is Hydropower Unit power factor, and when flow is mass flow, when other parameter is international unit, this coefficient is acceleration of gravity; η is the gross efficiency of Hydropower Unit.
Described variable element speed limit module also comprises the correcting module for revising the computing function in speed limit parameter generators and demarcate.
Described correcting module utilizes the load P of Hydropower Unit e, current hydraulic turbine head H and guide vane opening feedback P gV, adopt the method for linear regression or repeatedly spline-fit to carry out online correction and demarcation to the function of speed limit parameter generators.
Described execution architecture comprises the second electric liquid conversion PID controller, second amplitude limiter, proportional control module, servomotor and travel feedback module, the signal output part of variable element speed limit module connects the signal input part of the second electric liquid conversion PID controller by slender acanthopanax musical instruments used in a Buddhist or Taoist mass, the signal output part of the second electric liquid conversion PID controller connects the signal input part of the second amplitude limiter, the signal output part of secondary signal amplitude limiter is by connecting the signal input part of proportional control model calling servomotor, the signal output part of servomotor connects the signal input part of stroke feedback module, the signal output part of travel feedback module connects the signal input part of slender acanthopanax musical instruments used in a Buddhist or Taoist mass.
The scale parameter of described proportional control module is 1/T l, T lfor the maximum switching constant of servomotor, subscript L represents servomotor.
The power of Hydropower Unit can be expressed as:
P e＝KηGH(1)
In formula, P efor the load of Hydropower Unit, subscript e is electricity initial, represents the signal of telecommunication; K is Hydropower Unit power factor, and when flow is mass flow, when other parameter is international unit, this coefficient is acceleration of gravity; η is Hydropower Unit efficiency; G is the mass flow flowing through water turbine set; H is current hydraulic turbine head.
Water attack is because the fluid inertia in penstock causes, and namely produce inertia force when flow changes, Water Hammer can be expressed as:
F = K F d G d t - - - ( 2 )
In formula, K ffor inertia coeffeicent, subscript F represents inertia, approximates Hydropower Unit penstock length.
Can obtain according to formula (1) is substituted into formula (2),
F = K F K η H dP e d t - - - ( 3 )
From formula (3), as long as the pace of change of the load of restriction unit can control the water hammer power of unit.But the control command speed limit of actual set can not solve water attack protection problem, its main cause is that control command acts on guide vane opening, and there is non-linear relation between guide vane opening and load, the main and guide vane opening P of this relation gvrelevant with operational factors such as head H, namely
F = K F K η H dP e d t = K F K η H ∂ P e ∂ P G v dP G v d t
In formula, ∂ P e ∂ P G V ≈ f ( P G V , H )
Therefore, F<F be met r, only need meet,
dP G v d t < F R g ( P G v , H )
In formula, namely the maximum closing velocity V that Water Hammer only need limit is controlled max, subscript m ax represents maximum.
The present invention is on traditional controller basis, guide vane opening feedback is changed to the feedback loading of Hydropower Unit, and variable element speed limit module is set in controller outlet, the additional risk utilizing speed limit solution feedback loading to bring and the issuable water attack problem of unit control system.According to previous analysis, control water attack and only need limit maximum closing velocity V max, wherein unknown function g (P gv, H) can design data calculate, and in system operation, constantly revised by correcting module, because of g (P gvh) main variables own is the non-linear relation curve between electric loading and actuator's output guide blade aperture, this curve can on on-line measurement data basis, according to piecewise linear regression or repeatedly these classic algorithm of spline-fit constantly carry out on-line amending, this part correction algorithm just forms correcting module, automatically safeguards the curve g (P arranged in running gv, H) natural trend.
When deviation appears in mains frequency, the load of actual set is feedback signal, act on the integral control loop of the first electric liquid conversion PID controller, only have when integration is input as 0, first electric liquid conversion PID controller could stop action, now, the inevitable slip of the state forever b meeting grid requirements completely between electrical power and mains frequency deviation pthe primary frequency modulation amplitude requirement arranged, in addition, the pace of change that first electric liquid conversion PID controller exports is strictly limited in given Water Hammer restriction requires, so actual guide vane opening pace of change avoids from source that closing velocity is too fast causes water attack problem, carry out responsiveness restriction without the need to segmentation, make full use of actuator's responsiveness potentiality.In sum, the present invention takes full advantage of the responsiveness of actuator, improves speed and the precision of primary frequency modulation, all has important effect to unit adjusting function and primary frequency regulation of power network.

Claims (7)

1. a novel hydroelectric generating set load and frequency controller, comprise FREQUENCY CONTROL dead band module, first electric liquid conversion PID controller, the gain module of state slip forever, spatial load forecasting dead band module, first amplitude limiter and actuator, given frequency and feedback frequency are through the signal input part of first adder rate of connections controlling dead error module, the signal output part of FREQUENCY CONTROL dead band module connects the input of the first electric liquid conversion PID controller, three signal output parts of the first electric liquid conversion PID controller all connect the signal input part of the first amplitude limiter through second adder, the signal output part of the first amplitude limiter connects the signal input part of execution architecture, given artificial load is by the signal input part of the 3rd adder connected load controlling dead error module, the signal output part of spatial load forecasting dead band module connects the signal input part of the 4th adder by state slip forever, the signal output part of the 4th adder connects the signal input part of the integral controller of the first electric liquid conversion PID controller, given artificial load also connects the signal input part of second adder, it is characterized in that: between the first amplitude limiter and actuator, be also provided with the variable element speed limit module for carrying out Control for Speed Limitation to the output of the first electric liquid conversion PID controller, the signal input part of the 3rd adder is also connected with the load of Hydropower Unit.
2. the novel hydroelectric generating set load of one according to claim 1 and frequency controller, is characterized in that: described variable element speed limit module comprises variable element limiter of speed and speed limit parameter generators.
3. the novel hydroelectric generating set load of one according to claim 2 and frequency controller, is characterized in that: described speed limit parameter generators is according to formula generate controling parameters; In formula, P gvfor actuator's feedback and guide vane opening feedback, subscript Gv represents stator; H is current hydraulic turbine head; F rfor the maximum Water Hammer limited target arranged, subscript R represents set-point; wherein f (P gv, H) and for hydraulic turbine power output is relative to the rate of change of guide vane opening function; P efor the load of Hydropower Unit, subscript e is electricity initial, represents the signal of telecommunication; K ffor inertia coeffeicent, subscript F represents inertia; K is Hydropower Unit power factor; η is the gross efficiency of Hydropower Unit.
4. the novel hydroelectric generating set load of the one according to Claims 2 or 3 and frequency controller, is characterized in that: described variable element speed limit module also comprises the correcting module for revising the computing function in speed limit parameter generators and demarcate.
5. the novel hydroelectric generating set load of one according to claim 4 and frequency controller, is characterized in that: described correcting module utilizes the load P of Hydropower Unit e, current hydraulic turbine head H and guide vane opening feedback P gv, adopt the method for linear regression or repeatedly spline-fit to carry out online correction and demarcation to the function of speed limit parameter generators.
6. according to claim 1, 2, the novel hydroelectric generating set load of one described in 3 or 5 any one claims and frequency controller, it is characterized in that: described execution architecture comprises the second electric liquid conversion PID controller, second amplitude limiter, proportional control module, servomotor and travel feedback module, the signal output part of variable element speed limit module connects the signal input part of the second electric liquid conversion PID controller by slender acanthopanax musical instruments used in a Buddhist or Taoist mass, the signal output part of the second electric liquid conversion PID controller connects the signal input part of the second amplitude limiter, the signal output part of secondary signal amplitude limiter is by connecting the signal input part of proportional control model calling servomotor, the signal output part of servomotor connects the signal input part of stroke feedback module, the signal output part of travel feedback module connects the signal input part of slender acanthopanax musical instruments used in a Buddhist or Taoist mass.
7. the novel hydroelectric generating set load of one according to claim 6 and frequency controller, is characterized in that: the scale parameter of described proportional control module is 1/T l, T lfor the maximum switching constant of servomotor, subscript L represents servomotor.
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CN107061133A (en) * 2016-12-12 2017-08-18 国电南瑞科技股份有限公司 A kind of Hydropower Unit for frequency urgent control is exerted oneself quickly regulating method
CN107453375A (en) * 2017-07-06 2017-12-08 中国长江电力股份有限公司 Primary frequency modulation electricity compensation Precise control method and device under giant water turbine generator set power mode
CN108512233A (en) * 2018-05-17 2018-09-07 贵州电网有限责任公司 A kind of Hydropower Unit is based on actual head primary frequency modulation computational methods
CN110532713A (en) * 2019-09-03 2019-12-03 贵州电网有限责任公司 A kind of hydrogovernor electro-hydraulic servo analogue system
CN114576075A (en) * 2022-03-09 2022-06-03 清华大学 Amplitude limiting protection method and device for wave power generation device and electronic equipment

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